Dynamic modeling and simulation of a flexible robotic manipulator

被引：28

作者：

Gamarra-Rosado, VO ^{[1
]}

Yuhara, EAO

机构：

[1] UNESP, Coll Engn, Div Mech Engn, BR-12500000 Sao Paulo, Brazil

[2] UNESP, Coll Engn, Div Elect Engn, BR-12500000 Sao Paulo, Brazil

来源：

ROBOTICA | 1999年 / 17卷

关键词：

advanced manufacturing technologies; robotics; flexible robotic manipulator; dynamic modeling and simulation; vibration active control;

D O I：

10.1017/S0263574799001721

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

引用

页码：523 / 528

页数：6

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